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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-20 23:44:04 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-20 23:44:04 +0100 |
| commit | 2e472cf918074cd2c4addc7d32abc09933d4ee2d (patch) | |
| tree | c83ea8e7680f9c9debe13f9cf0aff6aa928e2562 /src/modules/sdlog2 | |
| parent | 7956c8b08e53be876e96ddd434799b96ce5b7661 (diff) | |
| download | px4-firmware-2e472cf918074cd2c4addc7d32abc09933d4ee2d.tar.gz px4-firmware-2e472cf918074cd2c4addc7d32abc09933d4ee2d.tar.bz2 px4-firmware-2e472cf918074cd2c4addc7d32abc09933d4ee2d.zip | |
attitude_estimator_ekf: acc comp bug fixed, estimated gravity vector logging
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 3 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 5 |
2 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index d004a416f..e0bb81e0e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1161,6 +1161,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.gx = buf.att.g_comp[0]; + log_msg.body.log_ATT.gy = buf.att.g_comp[1]; + log_msg.body.log_ATT.gz = buf.att.g_comp[2]; LOGBUFFER_WRITE_AND_COUNT(ATT); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fd8821735..503dc0afc 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -57,6 +57,9 @@ struct log_ATT_s { float roll_rate; float pitch_rate; float yaw_rate; + float gx; + float gy; + float gz; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -289,7 +292,7 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), |